plain.h
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29 
30 #ifndef COSTMAP_CSPACE_COSTMAP_3D_LAYER_PLAIN_H
31 #define COSTMAP_CSPACE_COSTMAP_3D_LAYER_PLAIN_H
32 
33 #include <geometry_msgs/PolygonStamped.h>
34 #include <nav_msgs/OccupancyGrid.h>
35 #include <costmap_cspace_msgs/CSpace3D.h>
36 #include <costmap_cspace_msgs/CSpace3DUpdate.h>
37 
39 
40 namespace costmap_cspace
41 {
43 {
44 public:
45  using Ptr = std::shared_ptr<Costmap3dLayerPlain>;
46 
48  {
49  Polygon footprint;
50  footprint.v.resize(3);
51  for (auto& p : footprint.v)
52  {
53  p[0] = p[1] = 0.0;
54  }
55  setFootprint(footprint);
56  }
58  {
60  static_cast<double>(config["linear_expand"]),
61  static_cast<double>(config["linear_spread"]));
62  }
63 };
64 } // namespace costmap_cspace
65 
66 #endif // COSTMAP_CSPACE_COSTMAP_3D_LAYER_PLAIN_H
void setExpansion(const float linear_expand, const float linear_spread)
Definition: footprint.h:77
std::vector< Vec > v
Definition: polygon.h:89
void loadConfig(XmlRpc::XmlRpcValue config)
Definition: plain.h:57
std::shared_ptr< Costmap3dLayerBase > Ptr
Definition: base.h:210
void setFootprint(const Polygon footprint)
Definition: footprint.h:89


costmap_cspace
Author(s): Atsushi Watanabe
autogenerated on Tue Jul 9 2019 04:59:48